Comparison of internal force antagonism between redundant cable-driven parallel robots and redundant rigid parallel robots

作     者：Yuheng WANG Xiaoqiang TANG Yuheng WANG;Xiaoqiang TANG

作者机构：State Key Laboratory of TribologyDepartment of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and ControlTsinghua UniversityBeijing 100084China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2023年第18卷第4期

页      面：97-117页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 

基　　金：the financial support of the National Natural Science Foundation of China(Grant No.51975307). 

主　　题：cable-driven parallel robots parallel robots redundant robots evaluation index force solution space 

摘      要：The internal force antagonism(IFA)problem is one of the most important issues limiting the applications and popularization of redundant parallel robots in industry.Redundant cable-driven parallel robots(RCDPRs)and redundant rigid parallel robots(RRPRs)behave very differently in this problem.To clarify the essence of IFA,this study first analyzes the causes and influencing factors of IFA.Next,an evaluation index for IFA is proposed,and its calculating algorithm is developed.Then,three graphical analysis methods based on this index are proposed.Finally,the performance of RCDPRs and RRPRs in IFA under three configurations are analyzed.Results show that RRPRs produce IFA in nearly all the areas of the workspace,whereas RCDPRs produce IFA in only some areas of the workspace,and the IFA in RCDPRs is milder than that RRPRs.Thus,RCDPRs more fault-tolerant and easier to control and thus more conducive for industrial application and popularization than RRPRs.Furthermore,the proposed analysis methods can be used for the configuration optimization design of RCDPRs.